feat: add error messages for 5XX responses

[nmoutschen]

Describe the solution you'd like

I was trying to troubleshoot 5xx responses, but could not find error log messages for this. It'd be nice to have error messages for every 5XX that a router can return.

Since this can generate lots of log entries, it might be good to limit how many log entries are generated.

Describe alternatives you've considered

None

Additional context
Add any other context or screenshots about the feature request here.

[BrynCooke]

This would be solved by #4320.